Z-drive shipping lock for storage library robotic assembly

ABSTRACT

A system for selectively disallowing unwinding of a storage library robotic mechanism cable assembly in a direction that would otherwise allow a platform of the robotic mechanism to move downwardly via the force of gravity while at the same time allowing for winding up of the cable assembly and the platform, such as during shipping, manual access, replacement of the robotic mechanism, and/or the like. The system may include a ratchet pawl for engaging between adjacent teeth of a drive assembly of the robotic mechanism and an actuator for selectively moving or allowing for movement of the ratchet pawl into and out of the engaged position. In one embodiment, the system may include an electric switch or the like to sense when the pawl is engaged with the drive assembly.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Provisional Application No.61/789,795, entitled “Z-DRIVE SHIPPING LOCK FOR STORAGE LIBRARY ROBOTICASSEMBLY,” filed on Mar. 15, 2013, the entire contents of which areincorporated herein by reference as if set forth in full.

BACKGROUND

1. Field of the Invention

The present invention relates generally to robotic assemblies operableto move a platform up and down along a Z-axis via a cable assembly tomanipulate media elements within a storage library and, moreparticularly, to devices and methods that serve to selectively lock adrive assembly, such as during shipping or the like, against movementthat would otherwise allow for back driving of the cable assembly andinadvertent dropping of the platform, all of which could lead to damageto the cable assembly and/or other components of the robotic assembly.

2. Relevant Background

Storage library systems are often used by enterprises and the like toefficiently store and retrieve data from storage media. In the case ofsome storage libraries, the media may be data cartridges (e.g., tapecartridges) that are typically stored and indexed within a set ofmagazines. When particular data is requested, for instance, aspecialized robotic assembly or mechanism (e.g., robotic module) findsthe appropriate cartridge, removes the cartridge from its magazine, andcarries the cartridge to a drive that is designed to receive thecartridge and read its contents. Some storage libraries have multipledrives that can operate concurrently to perform input/output (IO)operations on multiple cartridges.

To operate properly, the robotic mechanisms are expected to reliably(e.g., repeatably and accurately) and rapidly find, retrieve, anddeliver desired cartridges throughout the storage library cartridgeinventory. Generally, a robotic mechanism may include a hand assemblythat is operable to reliably grip a desired cartridge and remove it froma magazine or drive, or to reliably grip a cartridge and release thecartridge into a desired magazine slot or drive. The robotic mechanismmay be configured to move the hand assembly in one or more axes (e.g.,x, y, and Z-directions, and sometimes one or more of pitch, roll, oryaw), and may include one or more sensors to reliably detect theposition and/or orientation of the hand assembly.

Different implementations of storage library systems move the handassembly in the Z-direction (i.e., with and against the force ofgravity, such as vertically with respect to the cartridge inventory) indifferent ways. Some implementations may use gears, tracks, belts,hydraulics, and/or other such control mechanisms. Other implementationsassociate the hand assembly with a platform or carriage that is held upby cables, ropes, or the like. By pulling on the cables (e.g. usingpulleys, a spool, a drive motor, etc.), the platform or carriage can belifted; by adding slack to the cables, the platform or carriage can beallowed to move in a downward direction under the force of gravity(e.g., in a substantially floating manner).

SUMMARY

It is generally desirable to prevent or at least limit the likelihood ofinadvertent dropping or lowering (e.g., in the direction of gravity) ofthe platform assembly (and the hand assembly connected thereto) of astorage library robotic assembly in order to limit damage from occurringto the cable assembly, the platform assembly, and/or other components ofthe robotic assembly. Before shipping or manually accessing the storagelibrary, for instance, current platforms are typically spooled up (byfully winding up the cable assembly) and then locked against movement ineither direction along the Z-axis. For instance, current arrangementsinclude a pawl or the like that is inserted between adjacent teeth of adriving gear of the robotic assembly to prevent motion of the platformin either direction along the Z-axis.

However, the platform assembly of current robotic assemblies is stillfree to move down along the Z-axis unless the pawl is fully engaged withthe teeth of the driving gear, such as while the platform assembly isbeing spooled up (e.g., refracted, wound up, etc.). In this regard, anybreak or loss in the taking up of the cable during the platform assemblyrefraction process may allow the platform to fall or drop (e.g.,possibly violently) due to the force of gravity. Furthermore, locking ofthe cable assembly in both directions along the Z-axis during shippingor the like thus restricts movement of the cable assembly and drivinggear that would otherwise tend to further retract and thus more fullysecure the platform and cable assembly during shipping. Still further,the pawl or the like of current arrangements is a separate part thatmust be removed to allow the robotic assembly to operate, must be placedelsewhere and stored for future use, and that is susceptible to loss.

In view of the foregoing, disclosed herein is a system for selectivelypreventing or limiting unwinding of a storage library robotic mechanismcable assembly in a direction that would allow a platform assembly ofthe robotic mechanism to move in a Z-direction (e.g., along a Z-axis)via the force of gravity (when in an engaged position) but that, when inthe engaged position, still allows for retraction/winding up of thecable assembly and spooling up of the platform assembly to allow forincreased levels of securement of the cable assembly and platformassembly such as during shipping, manual access, removal of the roboticassembly and/or the like. Broadly, the disclosed system may beincorporated into a robotic mechanism of a storage library and mayinclude a ratchet pawl configured to selectively engage the gear teethof a gear of the drive assembly responsible for moving the platformassembly and cable assembly along the Z-axis (in one of at least firstand second positions of the ratchet pawl) to allow forretraction/spooling up/winding up of the cable assembly and platformassembly but to disallow unwinding of the cable assembly and thusdropping of the platform assembly while engaged with the gear teeth. Thedisclosed system also includes an actuator (e.g., including a knob,lever, switch) that is movable (e.g., rotatable, translatable, slidable,flippable) between at least engaged and disengaged positions tocorrespondingly move or allow for movement of the ratchet pawl into thefirst and second positions, respectively.

As an example, the ratchet pawl of the disclosed system may be in theform of a ratchet spring (e.g., leaf spring) having a mounting portionor member rigidly secured (e.g., via bolts and nuts, rivets, etc.) to aportion of the chassis of the robotic assembly and an engagement portionor member movable between at least a first, disengaged position from thegear teeth of a drive gear of the drive assembly and a second, engagedposition with the gear teeth, where the second, engaged position is asubstantially non-deflected/relaxed position of the spring-loadedengagement member, or at least a lower level of deflection that when inthe first, disengaged position. The engagement member may be shaped orotherwise oriented so that when engaged between adjacent gear teeth, theengagement member disallows movement of the drive gear in a rotationaldirection that would otherwise allow for extension of a cable assemblyand dropping of the platform assembly of the robotic assembly but stillallows for movement (e.g., ratcheting movement) of the drive gear in anopposing rotational direction that allows for winding up of the cableassembly and corresponding spooling up of the platform assembly. In thisexample, the actuator may include a handle (e.g., knob) that ismanipulatable (e.g., rotatable) by a user and a cam member rigidlyinterconnected to the handle that is designed to engage and urge theratchet spring into a deflected position away from the teeth of thedrive gear upon manipulation of the handle.

During normal operation of the robotic assembly of a storage library(e.g., when the robotic assembly is being operated to grab tapecartridges, insert the same into tape drives, etc.), a user may twist orotherwise position the actuator of the disclosed system into a firstposition so that the cam member engages and exerts a force against theleaf spring so as to move the engagement member of the leaf spring awayfrom the gear teeth of the drive or other gear. In this position of theactuator, the gear is free to move in first and second rotationaldirections as part of raising or lowering the cable assembly and thusthe platform assembly.

When it is desired to disallow or limit movement of the drive gear inone of the first and second rotational directions that would otherwiseallow for unwinding of a cable assembly and possible dropping ofplatform assembly of the robotic assembly (e.g., during shipping, manualaccess, replacement of the robotic assembly, etc.), a user maytwist/position the actuator into a second position to induce acorresponding movement of the cam member into a position that allows theratchet spring to move at least partially away from its deflectedposition and into engagement with or at least between adjacent teeth ofthe drive gear of the Z-drive assembly. Stated differently, movement ofthe actuator and thus the cam member into its second position removesthe opposing force previously being applied by the cam member againstthe ratchet spring and allows the ratchet spring to move (e.g., spring)back into its second, engaged position with respect to the gear teeth.Thereafter, the robotic assembly may be operated to retract/spool up thecable assembly and platform assembly into a (e.g., fully retracted)storage position or the like substantially free of any likelihood of thecable assembly unwinding in a direction that would otherwise drop orlower the platform assembly along with any related risks of damage orthe like. Further advantageously, any vibrations or the like transmittedto the robotic assembly during shipping, storage or the like maysubstantially only allow for movement of the drive gear in a rotationaldirection that would allow for only furtherretraction/spooling/tightening up of the cable assembly and thus furtherlimiting of unintended movement of the cable assembly and platformassembly.

In one aspect, a robotics module for manipulating media elements in astorage library includes a chassis, a platform assembly for manipulatingmedia elements in a storage library, a drive assembly including asuspension cable reel secured to the chassis, a cable assembly securedbetween the suspension cable reel and the platform, and a locking systemsecured to the chassis and manipulatable between at least first andsecond configurations. Rotation of the suspension cable reel in a firstrotation direction unwinds the cable assembly from the suspension cablereel and allows the platform assembly to move in a first direction alongan axis relative to media elements in the storage library, and rotationof the suspension cable reel in an opposed second rotation directionwinds the cable assembly on the suspension cable reel and moves theplatform assembly in an opposed second direction along the axis relativeto the media elements in the storage library. Manipulation of thelocking system into the first configuration allows the suspension cablereel to move in either of the first and second rotation directions, andmanipulation of the locking system into the second configurationdisallows the suspension cable reel from moving in the first rotationdirection and allows the suspension cable reel to move in the secondrotation direction.

In another aspect, a locking subsystem of a drive assembly includes aspring-loaded ratchet pawl including a portion thereof movable betweenat least a first position in which the ratchet pawl is configured to bedisengaged from between adjacent gear teeth of the drive assembly toallow rotational movement of the drive assembly in both of first andsecond opposing rotational directions and a second position in which theratchet pawl is configured to engage between adjacent gear teeth of thedrive gear of the drive assembly to disallow rotational movement of thedrive assembly in the first rotational direction and allow rotationalmovement of the drive assembly in the opposing second rotationaldirection, a handle movable between at least first and second positions,and a cam member rigidly secured to the handle and movable between thefirst and second positions of the handle. The cam member urges the pawlinto the first pawl position in the first handle position, and the pawlmoves into the second pawl position in the second handle position.

In a further aspect, a method for use with a drive assembly of arobotics module of a storage library includes, where the drive assemblyis configured to wind and unwind a cable assembly from a suspensioncable reel of the drive assembly to respectively raise or lower aplatform of the robotics module, first positioning an actuator of therobotics module into one of at least first and second positions of theactuator; and engaging, in response to the first positioning, a portionof a ratchet pawl between adjacent teeth of a gear of the drive assemblyto disallow unwinding of the cable assembly and corresponding loweringof the platform.

Any of the embodiments, arrangements, or the like discussed herein maybe used (either alone or in combination with other embodiments,arrangement, or the like) with any of the disclosed aspects. Merelyintroducing a feature in accordance with commonly accepted antecedentbasis practice does not limit the corresponding feature to the singular.Any failure to use phrases such as “at least one” does not limit thecorresponding feature to the singular. Use of the phrase “at leastgenerally,” “at least partially,” “substantially” or the like inrelation to a particular feature encompasses the correspondingcharacteristic and insubstantial variations thereof. Furthermore, areference of a feature in conjunction with the phrase “in oneembodiment” does not limit the use of the feature to a singleembodiment.

In addition to the exemplary aspects and embodiments described above,further aspects and embodiments will become apparent by reference to thedrawings and by study of the following descriptions.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a storage library within which thelocking system disclosed herein may be utilized.

FIG. 2 a is a top perspective view of a robotics module for use in thestorage library of FIG. 1, where a platform and cable assembly of therobotics module are in a refracted or “spooled up” configuration.

FIG. 2 b is a perspective view similar to FIG. 2 a, but with theplatform and cable assembly in a lowered or unwound configuration.

FIG. 3 is a bottom perspective view of the robotics module of FIG. 2 a.

FIG. 4 is a close-up perspective view of a locking system disclosedherein secured to a chassis of the robotics module of FIG. 2 a.

FIG. 5 is a perspective view of an actuator of the locking system ofFIG. 4.

FIGS. 6 a-6 e illustrate various views of the locking system of FIG. 4in a first, unlocked configuration that allows rotational movement of asuspension cable reel of the robotics module in first and secondopposing rotational directions.

FIGS. 7 a-7 e illustrate various views of the locking system of FIG. 4in a second, locked configuration that allows rotational movement of thesuspension cable reel in one of the first and second rotationaldirections that winds up the cable assembly and platform but disallowsrotational movement of the suspension cable reel in the other of thefirst and second rotational directions that unwinds the cable assemblyand platform.

DETAILED DESCRIPTION

Disclosed herein are systems and methods for selectively disallowingunwinding of a storage library robotic mechanism cable assembly in adirection that would otherwise allow a platform assembly of the roboticmechanism to move downwardly via the force of gravity while at the sametime allowing for winding up of the cable assembly and the platform,such as during shipping, manual access, replacement of the roboticmechanism, and/or the like. The disclosed systems and methodsadvantageously prevent or at least reduce the likelihood of the cableassembly inadvertently unwinding in a manner that would otherwise dropor lower the platform assembly along with any related risks of damage orthe like. Further advantageously, any vibrations or the like transmittedto the robotic assembly during shipping, storage, replacement or thelike may substantially only allow for movement of the drive gear in arotational direction that would allow for only furtherretraction/spooling/tightening up of the cable assembly and thus furtherlimiting of unintended movement of the cable assembly and platform.

With initial reference to FIG. 1, one embodiment of a storage library 10is illustrated within which the locking system and related methodsdisclosed herein may be implemented. Broadly, the storage library 10 maybe a data storage and retrieval system for one or more computers,servers, and/or the like and may be designed for handling and storing aplurality of media elements and for reading and writing to the mediaelements using media element players. As used herein, a media elementdenotes any physical substrate suitable for storing data, such as a tapecartridge. A media element player may be a media element reader and/orwriter (such as a tape drive) that translates the data stored on a mediaelement into signals readable by a computer and/or server for readingoperations and/or writes data to the media element in response to acommand from the computer and/or server for writing operations. WhileFIG. 1 illustrates one embodiment of a storage library, it is to beunderstood that the locking system and methods disclosed herein may beutilized in numerous other arrangements and contexts in which it isdesired to selectively disallow or limit unwinding of a cable assemblyand corresponding lowering of a platform assembly or the like connectedto the cable assembly.

Generally, the storage library 10 may include a rack 12 (e.g., in theform of a vertically upright, rectangular form or framework) formed bytop and bottom rack portions 14, 16 in addition to a plurality of legs18 extending therebetween (e.g., such as between respective corners ofthe top and bottom rack portions 14, 16). The various legs 18 may forman interior portion 30 therewithin and the bottom rack portion 16 may beplaced on a support structure such as a floor to support the weight ofthe storage library 10. A plurality of removable storage library modules28 (e.g., magazines) of any appropriate form factors may be positionedwithin respective bays (not labeled) in the interior portion 30 of therack 12, where the various bays may be spaced by any appropriate spacingsuch as by 1U, 2U, or the like. While not shown, each storage librarymodule 28 may be removably secured to the rack 12 such as via latches,thumbscrews, and/or the like. Furthermore, each storage library module28 may include one or more media elements 45 (e.g., tape cartridges)and/or media element players 40 (e.g., tape drives) within individualcells or slots of the storage library module 28. The capacity of storagelibrary 10 may be expanded by inserting storage library modules 28 intothe rack 12 or reduced by removing storage library modules 28 from therack 12.

To manipulate one or more of the media elements 45 (e.g., removing amedia element 45 from a storage library module 28 and inserting the sameinto a media element player 40 for reading and/or writing of data,removing a media element 45 from a media element player 40 and insertingthe same into the cell of a storage library module 28, reading labels onthe media players 40 or media elements 45, etc.), a media elementhandling robotics module 100 may be positioned within the interiorportion 30 of the rack 12, such as adjacent the top rack portion 14. Forinstance, the robotics module 100 may include media element handlingrobotics and may be plugged/inserted into and removed from a bay or slotwithin the interior portion 30 of the rack 12 in a modular manner. Whilenot shown, a removable power/controller module may be positioned withinthe interior portion 30 of the rack 12 (e.g., such as adjacent the toprack portion 14 at a rear of the rack 12) including a power supply forsupplying the power required by the robotics module 100 to manipulatethe media elements 45 and control electronics for generating electricalcontrol signals to control the operation of the robotics module 100. Forinstance, the power/controller module may be plugged into and removedfrom a respective bay or slot of the rack 12. The power/controllermodule may include or be associated with any appropriate computerprogram products, i.e., one or more modules of computer programinstructions encoded on a non-transitory computer-readable medium forexecution by, or to control the operation of, a data processingapparatus. In this regard, the power/controller module may encompass oneor more apparatuses, devices, and machines for processing data,including by way of example a programmable processor, a computer, ormultiple processors or computers.

With additional reference now to FIGS. 2 a and 3, top and bottomperspective views of the robotics module 100 (removed from the storagelibrary 10) are illustrated. Broadly, the robotics module 100 includes ahousing or chassis 104 from which a platform assembly 108 is configuredto move towards and away along a Z-axis 200 (e.g., in first and secondopposing directions) within a channel 32 in the interior portion 30 ofthe rack 12 to manipulate media elements 45. More specifically, therobotics module 100 may include a Z-axis drive assembly 112appropriately secured to a bottom portion or wall 105 of the chassis 104and a cable assembly 116 (e.g., including a number of ropes, cables, orthe like) interconnected between the drive assembly 112 and the platformassembly 108, where the drive assembly 112 operates to wind (e.g., spoolup, refract) or unwind (e.g., release) the cable assembly 116 tocorrespondingly raise or lower (e.g., the latter being via the force ofgravity in the direction 202 along the Z-axis 200) the platform assembly108 along the Z-axis 200 within the channel 32 of the rack 12.

For instance, the drive assembly 112 may include a number of components(e.g., gears, pulleys, drive motor, etc.) such as a cable take-upassembly 120 secured to or relative to the chassis 104, one or moredrive gears 124 rotatably secured to or relative to the chassis 104, anda drive motor (not shown) secured to or relative to the chassis 104 andinterconnected to the one or more drive gears 124 to drive the drivegears 124 in first and second opposing rotational directions. It isnoted that the two drive gears 124 shown in FIG. 3 would simultaneouslymove in opposing rotational directions. The cable take-up assembly 120may include a geared suspension cable reel 128 rotatably securedrelative to the chassis 104 about which the cable assembly 116 may bewound and a housing 132 for containing the suspension cable reel 128 andcable assembly 116. Gear teeth arranged about a periphery of thesuspension cable reel 128 are appropriately interconnected (e.g.,meshed) with gear teeth arranged about a periphery of one of the drivegears 124 so that rotation of the drive gear 124 in one of first andsecond opposing rotational directions induces a corresponding rotationalmovement of the suspension cable reel 128 in the other of the first andsecond rotational directions for purposes of winding or unwinding thecable assembly 116.

FIG. 2 b illustrates a view of the robotics module 100 with the platformassembly 108 being in a lowered position along the Z-axis 200 relativeto the chassis 104. To manipulate a particular media element 45 in astorage library module 28 or a media element player 40 (e.g., grab andretrieve, read a label of, etc.), the platform assembly 108 may includea hand element or assembly 136 that may include any appropriatecomponents such as a gripping assembly, a barcode reader, processors,circuitry and the like operable to manipulate the media elements 45. Forinstance, the drive assembly 112 may be appropriately operated to lowerthe platform assembly 108 along the Z-axis 200 to a particular location(e.g., height) within the channel 32 of the rack 12, such as to aparticular location along the Z-axis 200 at which a particular mediaelement 45 is located. The hand assembly 136 may be electricallyinterconnected to the power/controller module via a communications cable144 or the like to allow for control of the hand assembly 136.

Furthermore, the hand assembly 136 may be appropriately moved ortranslated along an X-axis 204 to a particular location along the X-axis204 at which the particular media element 45 is located. For instance,the platform assembly 108 may include a pair of rails 140 or the likealong which a carriage (not shown) may be slid, moved or translatedalong the X-axis 204 (e.g., via a motor electrically interconnected withthe power/controller module via any appropriate communications cable orthe like, not shown), where the hand assembly 136 is mounted to thecarriage. In one arrangement, the hand assembly 136 may be appropriatelyrotatably mounted to the carriage to allow the hand assembly 136 to berotated in first and second opposing rotational directions about an axisthat is generally parallel to the Z-axis 200 (e.g., via a motorelectrically interconnected with the power/controller module via anyappropriate communications cable or the like, not shown).

As discussed previously, it is desirable to prevent or at least limitthe likelihood of inadvertent unwinding of a cable assembly andcorresponding dropping or lowering (e.g., in the direction of gravityalong the Z-axis) of a platform assembly during shipping, replacement,manual access, and/or the like in order to limit damage from occurringto the cable assembly, platform assembly, and/or other components of arobotics module. In this regard, existing platforms are typicallyspooled up (by fully winding up the cable assembly) and then lockedagainst movement in either direction along the Z-axis. However, currentarrangements for limiting or locking such movement of the cable assemblyand platform (e.g., manually inserting a pawl in between adjacent teethof a gear of the drive assembly of the robotics module that preventsrotational movement of the gear and thus the suspension cable reel inboth of the first and second rotational directions) suffer from a numberof inefficiencies such as still allowing the platform to drop along theZ-axis when the cable assembly and platform are being wound up into astorage position (i.e., because the cable assembly and platform cannotbe wound up with the existing pawl is engaged with the gear teeth),limiting any further winding up or tightening of the cable assembly andplatform that may otherwise occur due to vibrations or the like duringshipping or the like, and necessitating the removal, storage, andinventory of the separate, removable pawl.

In this regard, and with additional reference now to FIG. 4, therobotics module 100 may include a locking assembly or system 300 (e.g.,a locking subsystem) secured or securable to the chassis 104 that ismanipulatable by a user between at least a first configuration thatallows the suspension cable reel 128 to rotate in either of first andsecond opposing rotational directions so that the drive assembly 112 caneither wind or unwind the cable assembly 116 to correspondingly raise orlower the platform assembly 108 along the Z-axis 200 (e.g., duringnormal operations of the robotics module 100, such as during thegrabbing of a media element 45 and moving of the media element 45 to amedia element player 40), and a second configuration that only allowsthe suspension cable reel 128 to rotation in the one of the first andsecond opposing rotational directions that winds up the cable assembly116 and platform assembly 108. That is, the second configuration of thelocking system 300 allows for winding up of the cable assembly 116 andplatform assembly 108 (e.g., via the drive assembly 112, via vibrations,etc.) but disallows for unwinding of the cable assembly 116 and theplatform assembly 108. Advantageously, the cable assembly 116 andplatform 108 can be wound up in preparation for shipping, replacement ofthe robotics module 100, and/or the like substantially free of anylikelihood of the cable assembly 116 inadvertently unwinding and theplatform assembly 108 inadvertently dropping.

Broadly, the locking system 300 includes a locking member in the form ofa ratchet pawl 304 having a portion thereof that is designed to engagebetween adjacent gear teeth 148 of one of the drive gears 124 of thedrive assembly 112 (or, in other embodiments, between adjacent gearteeth of the suspension cable reel 128) for limiting rotational movementthereof in one of first and second opposing rotational directions, andan actuator 308 for manipulating the ratchet pawl 304 as will bedescribed in more detail below. In one arrangement, the ratchet pawl 304may be in the form of a spring-loaded member (e.g., leaf spring or thelike) having a first or mounting member 312 that may be fixedly securedto (and non-movably relative to) any appropriate portion of the chassis104 (e.g., front wall 106) in any appropriate manner (e.g., via rivets,bolts and nuts, welds, etc., not shown) and a second or engagementmember 316 that is operable to selectively move (relative to the chassis104) into and/or out of engagement between adjacent gear teeth 148 ofthe drive gear 124. Stated differently, the ratchet pawl 304 may becantilevered to the inside surface 109 of the front wall 106.

For instance, the engagement member 316 may have an engagement portion320 thereon (e.g., at a free end of the engagement member 316 or atanother appropriate location) that is sized, shaped, angled, and/orconfigured to enter the space between adjacent ones of the gear teeth148 (e.g., at the roots of the adjacent gear teeth, see FIG. 7 c) tolimit rotational movement of the drive gear 124 (and thus of thesuspension cable reel 128) in the one of the first and second opposingrotational directions (e.g., such as a clockwise direction in FIG. 7 c)that would otherwise unwind the cable assembly 116 and thus lower theplatform assembly 108 while still allowing for rotational movement ofthe drive gear 124 (and thus of the suspension cable reel 128) in theother of the first and second opposing rotational directions (e.g., suchas a counterclockwise direction) that would allow for winding of thecable assembly 116 and thus raising of the platform assembly 108.

In one embodiment, the ratchet pawl 304 may be appropriately designedand mounted relative to the chassis 104 so that the engagement member316 is normally biased into engagement with the gear teeth 148 of thedrive gear 124 (as in FIG. 7 c and as represented by the dotted lines inFIG. 6 c) so as to only allow rotational movement of the drive gear 124(and thus of the suspension cable reel 128) in a direction that winds upthe cable assembly 116 and thus raises the platform assembly 108. Withreference to FIG. 7 c, for instance, it can be seen how any attempt torotate the drive gear 124 in the clockwise direction would be resisteddue to the angle and orientation of the engagement member 316 andengagement portion relative to the drive gear 124 and gear teeth 148.However, rotation of the drive gear 124 in the opposing counterclockwisedirection in this example would be allowed. Specifically, it can be seenhow the gear teeth 148 would, during the counterclockwise rotation ofthe drive gear 124, urge and bias the engagement member 316 andengagement portion 320 in a direction away from the gear teeth 148 andtowards the front wall 106 of the chassis (against the spring forcebeing built up in the engagement member 316) until the engagement member320 exits the space between adjacent gear teeth 148. Thereafter, thespring force of the engagement member 316 serves to substantiallyimmediately return the engagement portion 320 between each next set ofadjacent gear teeth 148 in a ratcheting-like manner.

To move the engagement portion 320 of the engagement member 316 out ofengagement with (i.e., to disengage the engagement member 316 from) thegear teeth 148 (as represented by the solid lines in FIG. 6 c), theactuator 308 may be appropriately manipulated into at least a firstposition to urge the engagement member 316 away from the gear teeth 148,such as in a direction towards the front wall 106. Moving the engagementmember 316 away from the gear teeth 148 (e.g., from the position of thedotted lines to the position of the solid lines in FIG. 6 c) may entailmoving the engagement member 316 (via the actuator 308) from a first,lower state of deflection into a second, higher state of deflection. Inone arrangement, the engaged position of the engagement member 316 maybe a substantially non-deflected or relaxed position while thedisengaged position of the engagement member 316 may be some deflectedposition. In another arrangement, the engaged position of the engagementmember 316 may still be a deflected position, but at some level lowerthan that of the disengaged position of the engagement member 316.

Broadly, the actuator 308 may be movably secured to a portion of thechassis 104 and may be manipulatable so as to urge the engagement member316 into its first, disengaged (e.g., unlocked) position as illustratedin FIGS. 6 a-6 e to allow for winding and unwinding of the cableassembly 116 and platform assembly 108 of the robotics module 100. Asshown in FIG. 5, the actuator may include a cam member 324 configured tourge the engagement member 316 into its disengaged position and a handle328 (e.g., including a knob 330) rigidly secured or connected to the cammember 324 (i.e., where the handle 328 and cam member 324 arenon-movably connected relative to each other), where manipulation of thehandle 328 induces a corresponding manipulation of the cam member 328.In one arrangement, the actuator 308 may be pivotally or rotatablysecured to the front wall 106 of the chassis 104 (e.g., about axis 332)so that the cam member 324 is disposed adjacent an inside surface 109 ofthe front wall 106 and the handle 328 is disposed adjacent an outsidesurface 110 of the front wall 106. See FIGS. 4, 6 b and 7 b. Forinstance, the actuator may include a pivot member 336 extending from thehandle 328 along axis 332 that is configured to be received in acorresponding aperture (not shown) through the front wall 106 of thechassis (e.g., via the outside surface 110 of the front wall 106). Anyappropriate lock washer 340 may then be disposed over the pivot member336 from the inside surface 109 of the front wall 106 to pivotally orrotatably secure the actuator 308 to the chassis 104. However, numerousother manners of pivotally or movably securing the actuator 308 to thefront wall 106 or other portion of the chassis 104 are also envisionedsuch as via pivot pins, bolts, and/or the like.

Returning to FIG. 5, the cam member 324 may include a first portion 344operable to contact the engagement member 316 and push or urge theengagement member 316 away from the gear teeth into its first,disengaged position via a camming action as the handle 328 is beingrotated into the first position. With specific reference to FIGS. 7 a-7e, the engagement member 316 may include a contact portion 322 that ispositioned to intersect a range of motion of the first portion 322 ofthe cam member 324 during rotation of the handle 328 about axis 332. Inthis regard, initial rotation (e.g., clockwise) of the handle 328 (e.g.,via knob 330) about axis 332 from the second position shown in FIGS. 7a-7 e may result in initial contact of the contact portion 322 of theengagement member 316 by the first portion 344 of the cam member 324.Thereafter, continued rotation of the handle 328 in the same rotationaldirection (e.g., in the clockwise direction) may cause the first portion344 of the cam member 324 to urge or push the engagement member 316(against any inherent spring force of the engagement member 316) awayfrom the drive gear 124 in the direction 347 and towards the front wall106 so that the engagement portion 320 exits the space between theadjacent gear teeth 148 (as in FIGS. 6 a-6 e) thus resulting in theability of the drive gear 124 (and thus of the suspension cable reel128) to move in either of first and second rotational directions (andthus allowing for winding or unwinding of the cable assembly 116 or theplatform assembly 108). Of course, in the event that the first portion344 of the cam member 324 is already in light or negligible contact withthe contact portion 322 when the handle 328 is in the second position ofFIGS. 7 a-7 e, rotation of the handle 328 towards the first positionshown in FIGS. 6 a-6 e may immediately induce movement of the engagementmember 316 away from the gear teeth 148 of the drive gear 124.

Furthermore, deflection of the engagement member 316 into the firstposition shown in FIGS. 6 a-6 e results in a spring force of theengagement member 316 being applied against the first portion 344 of thecam member 324 which serves to maintain or hold the cam member 324 (andthus the actuator 308 as a whole) in the first disengagedposition/configuration shown in FIGS. 6 a-6 e (e.g., until the handle328 is rotated in an opposite rotational direction, e.g., acounterclockwise direction, with a torque sufficient to overcome thespring force being applied against the first portion 344 of cam member324). Other manners of holding or maintaining the actuator 308 in thefirst, disengaged position of FIGS. 6 a-6 e may be additionallyemployed. In one arrangement, the cam member 324 may be provided with aprojection or detent 348 positioned to face and contact the engagementmember 316 in the first, disengaged position of the actuator 308 (facingfront wall 106). For instance, the detent 348 may be configured to besnap or otherwise be biased past a corresponding bump or detent 352 onthe engagement member 316. See FIGS. 4, 7 a, 7 b, 7 d and 7 e. In onearrangement, the locking system 300 may be arranged so that upon thedetent 348 just moving past the detent 352 (which may be associated withtactile feedback to the user), the engagement portion 320 may be fullyremoved and disengaged from the gear teeth 148 of the drive gear 124.

To move the engagement member 316 of the ratchet pawl 304 back into itssecond, engaged position shown in FIGS. 7 a-7 e from its first,disengaged position shown in FIGS. 6 a-6 e, the handle 328 may berotated in an opposing rotational direction (e.g., counterclockwise)about axis 332 to remove the force being applied by the first portion344 of the cam member 324 against the engagement member 316 (e.g., wherethe force being applied by the first portion 344 is opposite the springforce of the engagement member 316) and allow the engagement member 316to move (via the spring force) back into its engaged position (where theengagement portion 320 is seated between adjacent gear teeth 148). SeeFIGS. 7 a-7 c. In one arrangement, the detent 348 of the cam member 324may be configured to engage with (e.g., snap or be biased past) anotherdetent 356 (e.g., of the ratchet pawl 304, on the front wall 106,adjacent front wall 106, etc.) to hold or maintain the actuator 308 inits second position and thus the engagement member 316 in its second,engaged position (i.e., with the engagement portion 320 seated betweenadjacent gear teeth 148). See FIGS. 4, 6 a and 6 b. Also, moving of thedetent 348 past the detent 356 in the opposing rotational direction (thecounterclockwise direction in this example) may provide tactile feedbackto a user that the engagement portion 320 is in its second, engaged(e.g., locked) position whereby rotation of the drive gear 124 in arotational direction that would allow for unwinding and thus lowering ofthe cable assembly 116 and platform assembly 108 is inhibited ordisallowed.

In another arrangement, the locking system 300 may include anyappropriate sensor 360 configured to detect when the engagement member316 is in at least one of its engaged/locked or disengaged/unlockedpositions and then signal the power/controller module (and/or otherappropriate module) regarding the same. See FIGS. 4, 6 a, 6 b and 6 e.As an example, the sensor 360 may be in the form of an electric switch(e.g., microswitch) secured to a portion of the chassis 104 (e.g., tofront wall 106), electrically interconnected to the power/controllermodule, and including an actuation member 364 (e.g., lever, button,etc.) movable between at least first and second positions (e.g., off andon positions, respectively). For instance, the actuation member 364 maybe positioned in the range of rotational travel of the cam member 324 sothat upon rotation of the handle 328 and thus the cam member 324 intothe second position (whereby the engagement portion 320 is engagedbetween adjacent gear teeth 148), a second portion 368 of the cam member324 (see FIG. 5, e.g., opposed to the first portion 344) may beconfigured to contact the actuation member 364 and urge it (duringcontinued rotation of the handle 328) into its second position (seeFIGS. 7 a, 7 b and 7 e) whereby a signal indicating the engaged, lockedstate of the engagement member 316 may be sent to the power/controllermodule and/or other appropriate location.

Of course, it is also envisioned that the sensor 360 could beappropriately arranged vice versa whereby the actuation member 364 is inan “on” position when the engagement member 316 is in the disengaged,unlocked state (when the handle 328 and cam member 324 are their firstpositions of FIGS. 6 a-6 e) and is switched to an off position when theengagement member 316 moves into its engaged, locked position. In onearrangement, the locking system 300 may be arranged so that the secondportion 368 of the cam member 324 moves the actuation member 364 of thesensor 360 into the second position as or just after the detent 348 ofthe same member 324 snaps or moves past the detent 356. In anotherarrangement, engagement between the first portion 344 of the cam member324 and the contact portion 322 of the engagement member 316 of the pawl304 and engagement between the second portion 368 of the cam member 324and the actuation member 364 of the sensor 360 may be mutually exclusive(i.e., may be not capable of occurring at the same time).

In a further arrangement, the rotational range of motion of the actuator308 between its first and second positions (respectively correspondingto the disengaged, unlocked and engaged, locked positions of theengagement member 316 of the ratchet pawl 304) may be defined or limitedin any appropriate manner. As an example, a transition portion 372 ofthe actuator 308 that interconnects the handle 328 and the cam member324 may be sized and shaped to slide or ride in a corresponding slot oropening 376 defined through the front wall 106 of the chassis 104 (orthrough whichever portion of the chassis 104 that the actuator 308 isrotatably secured to) as the actuator 308 is being rotated between thefirst and second positions. See FIGS. 5, 6 a and 7 a. For instance, theslot 376 may be in the shape of an arc having opposing first and secondend walls 377, 378 respectively corresponding to the first and secondpositions of the actuator 308.

In this regard, rotation of the actuator 308 (e.g., via the handle 328)about the axis 332 in a first rotational direction may cause a firstside 373 (labeled in FIG. 7 a) of the transition portion 372 to abut thefirst end wall 377 (labeled in FIG. 7 a) upon the cam member 324 movinginto its first position and the engagement member 316 of the ratchetpawl 304 moving into its first, disengaged position as in FIGS. 6 a-6 e.Also, rotation of the actuator 308 (e.g., via the handle 328) about theaxis 332 in the opposed second rotational direction may cause a secondside 374 (labeled in FIG. 6 a) of the transition portion 372 to abut thesecond end wall 378 (labeled in FIG. 6 a) upon the cam member 324 movinginto its second position and the engagement member 316 of the ratchetpawl 304 moving into its second, engaged position as in FIGS. 7 a-7 e.In one embodiment, the actuator 308 may be held in its first position byvirtue of: engagement between the first side 373 and the first end wall377 in one direction of rotation and engagement between the detents 348,352 in the other direction of rotation. Also, the actuator 308 may beheld in its second position by virtue of: engagement between the secondside 374 and the second end wall 378 in one direction of rotation andengagement between the detents 348, 356 in the other direction ofrotation.

It will be readily appreciated that many additions and/or deviations maybe made from the specific embodiments disclosed in the specificationwithout departing from the spirit and scope of the invention. Forinstance, while it has been disclosed that the actuator 308 urges orbiases the ratchet pawl 304 (i.e., the engagement member 316 of theratchet pawl 304) into its first, disengaged position away from the gearteeth 148, it is also envisioned that the locking system 300 could beappropriately configured and arranged vice versa so that the actuator308 urges or biases the ratchet pawl 304 (i.e., the engagement member316 of the ratchet pawl 304) into its second, engaged position inbetween adjacent ones of the gear teeth 148. In this arrangement, theengagement member 316 of the ratchet pawl 304 could designed so as to bebiased away from and out of engagement with the gear teeth 148, such asagainst or towards the inside surface 109 of the front wall 106 of thechassis 104 (or other appropriate location of the chassis), whererotation of the actuator 308 into its first position (e.g., where firstside 373 of transition portion 372 contacts or abuts first side wall 377of slot 376) would urge the engagement member 316 into its engagedposition (e.g., where the engagement portion 320 is seated betweenadjacent gear teeth 148).

As another example, it is envisioned that the actuator may be linearlymovable between its first and second positions instead of rotatablemovable between its first and second positions as described herein. Forinstance, one embodiment encompassed herein envisions that the slot 376may be a linearly arranged opening (as opposed to an arc-shaped openingas shown in the figures), where the transition portion 372 travels inthe linearly shaped opening between the first and second positions. As afurther example, the locking system 300 could be arranged and configuredso that the actuator 308 urges the engagement member 316 into both ofits engaged and disengaged positions (e.g., in the case where theratchet pawl 304 was not a spring-loaded member).

The illustrations and discussion herein has only been provided to assistthe reader in understanding the various aspects of the presentdisclosure. Furthermore, one or more various combinations of the abovediscussed arrangements and embodiments are also envisioned. While thisdisclosure contains many specifics, these should not be construed aslimitations on the scope of the disclosure or of what may be claimed,but rather as descriptions of features specific to particularembodiments of the disclosure. Furthermore, certain features that aredescribed in this specification in the context of separate embodimentscan also be implemented in combination in a single embodiment.Conversely, various features that are described in the context of asingle embodiment can also be implemented in multiple embodimentsseparately or in any suitable subcombination. Moreover, althoughfeatures may be described above as acting in certain combinations andeven initially claimed as such, one or more features from a claimedcombination can in some cases be excised from the combination, and theclaimed combination may be directed to a subcombination or variation ofa sub combination.

Similarly, while operations are depicted in the drawings in a particularorder, this should not be understood as requiring that such operationsbe performed in the particular order shown or in sequential order, orthat all illustrated operations be performed, to achieve desirableresults. In certain circumstances, multitasking and/or parallelprocessing may be advantageous. Moreover, the separation of varioussystem components in the embodiments described above should not beunderstood as requiring such separation in all embodiments, and itshould be understood that the described program components and systemscan generally be integrated together in a single software and/orhardware product or packaged into multiple software and/or hardwareproducts.

The above described embodiments including the preferred embodiment andthe best mode of the invention known to the inventor at the time offiling are given by illustrative examples only.

I claim:
 1. A robotics module for manipulating media elements in astorage library, comprising: a chassis; a platform assembly formanipulating media elements in a storage library; a drive assemblysecured to the chassis, the drive assembly including a suspension cablereel; a cable assembly secured between the suspension cable reel and theplatform, wherein rotation of the suspension cable reel in a firstrotation direction unwinds the cable assembly from the suspension cablereel and allows the platform assembly to move in a first direction alongan axis relative to media elements in the storage library, and whereinrotation of the suspension cable reel in an opposed second rotationdirection winds the cable assembly on the suspension cable reel andmoves the platform assembly in an opposed second direction along theaxis relative to the media elements in the storage library; and alocking system secured to the chassis and manipulatable between at leastfirst and second configurations, wherein manipulation of the lockingsystem into the first configuration allows the suspension cable reel tomove in either of the first and second rotation directions, and whereinmanipulation of the locking system into the second configurationdisallows the suspension cable reel from moving in the first rotationdirection and allows the suspension cable reel to move in the secondrotation direction.
 2. The robotics module of claim 1, wherein thelocking system comprises: a pawl comprising at least a portion thereofmovable between at least first and second positions when the lockingsystem is in the first and second configurations, respectively, whereinthe pawl is disengaged from the drive assembly in the first position,and wherein the pawl is engaged with the drive assembly in the secondposition; and an actuator manipulatable to move the pawl into at leastone of the first and second positions.
 3. The robotics module of claim2, wherein the drive assembly comprises a plurality of gear teeth, andwherein the portion of the pawl is disposed between adjacent gear teethof the plurality of gear teeth in the second position of the pawl. 4.The robotics module of claim 3, wherein the plurality of gear teeth aredisposed around a periphery of a drive gear of the drive assembly, andwhere rotation of the drive gear induces rotation of the suspensioncable reel.
 5. The robotics module of claim 3, wherein the plurality ofgear teeth are disposed around a periphery of the suspension cable reel.6. The robotics module of claim 2, wherein the pawl comprises aspring-loaded arm, wherein the first, disengaged position comprises adeflected state of the spring-loaded arm, wherein the second, engagedposition comprises a substantially non-deflected state of thespring-loaded arm, and wherein the actuator is manipulatable to urge thespring-loaded arm into the deflected state.
 7. The robotics module ofclaim 2 wherein the actuator comprises: a handle movably secured to thechassis between at least first and second positions; and a cam memberrigidly secured to the handle and movable between the first and secondpositions of the handle, wherein the cam member urges the pawl into thefirst pawl position to disengage the pawl from the drive assembly sothat the cable suspension wheel is allowed to move in either of thefirst and second rotation directions in the first handle position, andwherein the pawl moves into the second pawl position to engage the pawlwith the drive assembly so that the cable suspension wheel is disallowedfrom moving in the first rotation direction and allowed to move in thesecond rotation direction in the second handle position.
 8. The roboticsmodule of claim 7, wherein the pawl comprises a spring-loaded arm,wherein the spring-loaded arm is in a first state of deflection in thefirst position of the pawl, wherein the spring-loaded arm is in a secondstate of deflection in the second position of the pawl, and wherein thesecond state of deflection is less than the first state of deflection.9. The robotics module of claim 7, wherein the handle comprises a knobthat is rotatably connected to the chassis between the first and secondpositions.
 10. The robotics module of claim 9, wherein the pawlcomprises a spring-loaded arm, wherein the spring-loaded arm is in afirst state of deflection in the first position of the pawl, wherein thespring-loaded arm is in a second state of deflection in the secondposition of the pawl, and wherein the second state of deflection is lessthan the first state of deflection.
 11. The robotics module of claim 7,wherein the locking system further comprises an electric switch movablebetween at least first and second positions, wherein the cam membermoves the electric switch into the second position when the handle ismoved into the second handle position, and wherein the electric switchmoves into the first position when the handle is moved into the firsthandle position.
 12. The robotics module of claim 11, wherein movementof the electric switch into the second position generates a controlsignal that is sent to a controller of the robotics module.
 13. Therobotics module of claim 11, wherein the cam member comprises first andsecond opposing portions, wherein the first portion engages the pawl,and wherein the second portion engages the electric switch.
 14. Therobotics module of claim 13, wherein engagement between the firstportion and the pawl and engagement between the second portion and theelectric switch are mutually exclusive.
 15. The robotics module of claim13, wherein the locking system further comprises a first detent on thecam member and a second detent adjacent the chassis, where the firstdetent engages the second detent upon the second portion engaging theelectric switch.
 16. The robotics module of claim 15, wherein the pawlcomprises a spring-loaded arm, wherein the spring-loaded arm is in afirst state of deflection in the first position of the pawl, wherein thespring-loaded arm is in a second state of deflection in the secondposition of the pawl, and wherein the second state of deflection is lessthan the first state of deflection.
 17. The robotics module of claim 11,wherein the pawl comprises a spring-loaded arm, wherein thespring-loaded arm is in a first state of deflection in the firstposition of the pawl, wherein the spring-loaded arm is in a second stateof deflection in the second position of the pawl, and wherein the secondstate of deflection is less than the first state of deflection.
 18. Therobotics module of claim 7, wherein the actuator further comprises: atransition member rigidly interconnecting the handle and the cam member,wherein the transition member travels within a slot within the chassisto define a range of motion of the actuator.
 19. The robotics module ofclaim 18, wherein the pawl comprises a spring-loaded arm, wherein thespring-loaded arm is in a first state of deflection in the firstposition of the pawl, wherein the spring-loaded arm is in a second stateof deflection in the second position of the pawl, and wherein the secondstate of deflection is less than the first state of deflection.
 20. Therobotics module of claim 18, wherein the handle comprises a knob that isrotatably connected to the chassis between the first and secondpositions.